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Summary of Significant Accounting Policies - Government Grant Income (Details) - Government Assistance, CARES Act - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Unusual or Infrequent Item, or Both [Line Items]        
Government grant income received $ 47 $ 209 $ 413 $ 7,616
Government grant income recorded in other income (expense), net        
Unusual or Infrequent Item, or Both [Line Items]        
Government grant income received 47 209 184 6,762
Government grant income recorded in equity income (loss) from unconsolidated joint ventures        
Unusual or Infrequent Item, or Both [Line Items]        
Government grant income received 0 0 229 648
Government grant income recorded in income (loss) from discontinued operations        
Unusual or Infrequent Item, or Both [Line Items]        
Government grant income received $ 0 $ 0 $ 0 $ 206